• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.91-99
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• 2013

The purpose of this study was to investigate the muscular activity and muscle strength for swing track of upper limbs during rowing exercise. Subject was all twenty healthy adults and they were divided into linear exercise group and elliptical exercise group in random. Subjects performed rowing exercise 3-times for a week and performed all 8-weeks. We measured realtime-surface EMG. Also we measured joint torque of elbow, ankle and lumbar in subjects using BIODEX. The result showed that when rowing exercise, elliptical track exercise had higher muscular activity in trapezius, deltoid, erector spinae, rectus femoris, biceps femoris, gastronemius than linear track exercise on more many muscle of upper and lower limbs. Also elbow joint torque and lumbar joint torque was more higher too. but linear exercise also had higher muscular activity in multifidus, tibilalis anterior than elliptical track exercise. According to this experiment, we found out that elliptical track was more efficient than linear track.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.442-447
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• 2017

The purpose of this study was to establish norm-referenced criteria for the isokinetic strength of the elbow joint in Korean high school baseball players. Two hundred and one high school baseball players participated in this study, none of whom had any medical problem with their upper limbs. The elbow flexion/extension test was conducted four times at a speed of $60^{\circ}/sec$. The HUMAC NORM (CSMI, USA) system was used to obtain the values of the peak torque and peak torque per body weight. The results were presented as norm-referenced criterion valuesusing the 5-point scale of Cajori which consists of five stages (6.06%, 24.17%, 38.30%, 24.17%, and 6.06%). In the results of this study, the peak torques of the elbow (flexor and extensor?) at an angular velocity of $60^{\circ}/sec$ were $37.88{\pm}8.14Nm$ and $44.59{\pm}11.79Nm$, and the peak torque per body weight of the elbow (flexor and extensor?) were $50.06{\pm}8.66Nm$ and $58.28{\pm}12.84Nm$, respectively. The reference values of the peak torque and peak torque per body weight of the elbow flexor and extensor were setat an angular velocity of $60^{\circ}/sec$. On the basis of the results analyzed in this study, the following conclusions were drawn. There is a lack of proper studies on the elbow joint strength, even though the most common injury in baseball players occurs in the elbow joint. Therefore, we need to establish a standard muscle strength in order to prevent elbow joint injuries and improve their performance. The criteria for the peak torque and peak torque per body weight established here in will provide useful information for high school baseball players, baseball coaches, athletic trainers and sports injury rehabilitation specialists in injury recovery and return to rehabilitation, which can beutilized as objective clinical assessment data.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• Journal of the Korean Society of Clothing and Textiles
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• v.40 no.2
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• pp.240-257
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• 2016

This study determines the effect of 3D compression pants and Kinesio taping on muscular function of the leg during knee joint flexion and extension. Eight males participated in the experiment, wearing basic pants (BP), Kinesio taping on bare skin (KT), 3D compression pants with (KTP) and without Kinesio taping (CP). The test protocol for isokinetic muscular function was composed of four sets at three angular velocities (60, 180, $240^{\circ}/sec$) using Cybex 660. Peak torque and work per repetition of the lower limbs of eight males were analyzed from the result of Cybex. Agility and power of the subjects were examined from side step and sergeant jump. Peak torque, average power, work per repetition, force decay time of subjects wearing CP and KTP were significantly better than BP or KT, especially at low angular velocity of $60^{\circ}/sec$. The time to generate peak torque of subjects wearing BP was the longest, while the force-decay time of BP was the shortest. The application of Kinesio tape on skin did not increase muscle peak torque, work and power, but did shorten the time to generate peak torque.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.177-185
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• 2014

In this study, the exoskeleton orthosis for the assistance of dorsiflexion torque in ankle joint to prevent foot-drop was developed. It was consist of three part; 1) the power part using artificial pneumatic actuator, 2) wearing part of ankle and knee joints to fix the orthosis, and 3) control part to detect the gait phase using physiological signal. The dorsiflexion torque was generated by the artificial pneumatic actuator connected with wearing part between ankle and knee joint. The accurate timing to assist dorsiflexion torque is made up of physiological signal in foot sole part that detect the gait phase, that is, stance and swing phase in each foot. We conduct the experiment to investigate the effect of exoskeleton orthosis to the 7 elderly people and 10 healthy people. The result showed that the muscular activities in tibialis anterior muscle were reduced because of the assistance of dorsiflexion torque in ankle joint using the exoskeleton orthosis.

• Journal of Life Science
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• v.18 no.1
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• pp.30-37
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• 2008

The purpose of this study was to investigate the effect of Isotonic Training and Isotonic isometric complex Training to Knee joint Isokinetic muscle function in the high-school Taekwondo athlete. This subjects were randomly divided into two groups; a Isotonic Training group (n=7) Isotonic isometric complex Training group (n=7), Taekwondo athletes share each, 12 weeks between executes a motion. peak torque, H/Q ratio, bilateral muscular ratio muscular endurance of knee joint measured. For this study, two-way ANOVA with repeated measure were used. The result of this study presents between groups was not plain difference expressed. H/Q ratio, bilateral muscular ratio, muscular endurance was plain difference expressed after 12 weeks point of time (p>0.05) and peak torque was plain difference expressed (p<0.05). Conclusion each group did not appear all but one (peak torque), but point of view exercise was effect H/Q ratio, bilateral muscular ratio, muscular endurance, peak torque plain difference expressed.

• Journal of Power System Engineering
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• v.12 no.2
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• pp.55-61
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• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1160-1166
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• 2015

This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.76-85
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• 2008

Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.

• Journal of the Korean Society of Safety
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• v.18 no.2
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• pp.1-5
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• 2003

By using an approach developed to determine the torque-tension relationship for bolted joints, frictional properties of several typical bolted joints were studied experimentally. The specific property by bolted joints certify that the most significant influence of materials and bearing surface condition. Experiments on thread friction shows that prevailing torque nuts with distorted threads provide benefit for preventing self-loosening of the nut. Repeated tightening-loosening generally increases frictions in a bolted joint. It was noted that the data scatter of the experimental results of frictions in a belted joint may overshadow the influence of size. speed, and contact positions. The results from the experimental investigation will help to better design bolted joints.